T. Kinugasa, K. Ando, S. Fujimoto, K. Yoshida and M. Iribe (2015) “Development of a three-dimensional dynamic biped walking via the oscillation of telescopic knee joint and its gait analysis”, Journal of Mechanical Engineering and Sciences, 9, pp. 1529–1537. doi: 10.15282/jmes.9.2015.1.0149.